public void SetCost(int c1, int s1, int c2, int s2)
{
if (s1 == 0 || s2 == 0)
{
return;
}
Shoot[] shoots = new Shoot[2];
shoots[0] = kmeans.clusters[c1].members[s1 - 1];
shoots[1] = kmeans.clusters[c2].members[s2 - 1];
//DBA.CostPath DPtable = DBA.DpMatching(inputshoots[shoot1].acc, inputshoots[shoot2].acc);
// DBA.CalcCost(a,b) aからみたｂのコスト 長さはa
double[][] costs = new double[2][];
Chart[] charts = { chart1, chart2 };
for (int c = 0; c < 2; ++c)
{
//shoot[0] and shoot[1] compare
//cost[0]=(0,1) cost[1]=(1,0)
costs[c] = DBA.CalcCost(shoots[c].acc, shoots[(c + 1) % 2].acc).cost;
string legend4 = "cost";
charts[c].Series.Add(legend4);
charts[c].Series[legend4].ChartType = SeriesChartType.Line; // 折れ線グラフ
for (int i = 0; i < shoots[c].acc.Length; i++)
{
//shoot1における、shoot2からみたコスト
//shoot2における、shoot1からみたコスト
charts[c].Series[legend4].YAxisType = AxisType.Secondary;
charts[c].Series[legend4].Points.AddXY(shoots[c].time[i], costs[c][i]); //cost
Console.WriteLine("cost i :" + i + " time:" + shoots[c].time[i]);
}
}
}
public void SetData(int cidA, int cidB)
{
//クラスタ同士のコスト 格納
double[] cost = DBA.CalcCost(kmeans.clusters[cidA].centroid.DBAacc, kmeans.clusters[cidB].centroid.DBAacc).cost;
double dist = DBA.CalcCost(kmeans.clusters[cidA].centroid.DBAacc, kmeans.clusters[cidB].centroid.DBAacc).dist;
chart1.Series.Clear();
chart1.ChartAreas.Clear();
// ChartにSeriesを追加します
string legend1 = "X";
string legend2 = "Y";
string legend3 = "Z";
string legend4 = "cost";
chart1.Series.Add(legend1);
chart1.Series.Add(legend2);
chart1.Series.Add(legend3);
chart1.Series.Add(legend4);
chart1.Series[legend1].ChartType = SeriesChartType.Line; // 折れ線グラフ
chart1.Series[legend2].ChartType = SeriesChartType.Line; // 折れ線グラフ
chart1.Series[legend3].ChartType = SeriesChartType.Line; // 折れ線グラフ
chart1.Series[legend4].ChartType = SeriesChartType.Line; // 折れ線グラフ
chart1.ChartAreas.Add(new ChartArea("Area1"));
chart1.ChartAreas["Area1"].AxisX.Title = "time";
chart1.ChartAreas["Area1"].AxisY.Title = "degree";
{
//クラスタ１（基準）
Cluster ca = kmeans.clusters[cidA];
//クラスタ２（比較したいもの）
Cluster cb = kmeans.clusters[cidB];
//クラスタ間の距離（総コスト）
distNum.Text = dist.ToString();
//double dt = 0.1;
//double[] dtCost = new double[s.acc.Length];
for (int i = 0; i < ca.centroid.DBAacc.Length - 1; i++)
{
chart1.Series[legend1].Points.AddXY(ca.centroid.DBAtime[i], ca.centroid.DBAacc[i].x); //X
chart1.Series[legend2].Points.AddXY(ca.centroid.DBAtime[i], ca.centroid.DBAacc[i].y); //Y
chart1.Series[legend3].Points.AddXY(ca.centroid.DBAtime[i], ca.centroid.DBAacc[i].z); //Z
}
for (int i = 0; i < ca.centroid.DBAtime.Length; i++)
{
//costの軸は2軸目（右側のY軸目盛り）で表示
chart1.Series[legend4].YAxisType = AxisType.Secondary;
//caを基準にグラフを表示
chart1.Series[legend4].Points.AddXY(ca.centroid.DBAtime[i], cost[i]); //cost
}
}
}
void CalcFinalDistance()
{
foreach (Cluster c in clusters)
{
foreach (Shoot s in c.members)
{
//コスト計算
s.cost = DBA.CalcCost(s.acc, c.centroid.DBAacc).cost;
}
}
}
public void MakeCentroid()
{
Shoots members = new Shoots();
members.AddRange(allShoots);
int clsLen = members.Count / clusters.Length;
//エルボー法評価のため
double distSumAllShoots = 0;
string distSumAllShootsOutput = "distSumAllShoots.csv";
foreach (Cluster c in clusters)
{
c.centroid.DBAacc = (Vec3[])members[0].acc.Clone();
c.members.Add(members[0]);
for (int i = 1; i < clsLen; ++i)
{
double minDist = double.MaxValue;
Shoot minS = null;
foreach (Shoot s in members)
{
DBA.CostPath cp;
cp = DBA.DpMatching(s.acc, c.centroid.DBAacc);
//to callback in DBA-DBA distance
//myDBShoots.Add(new DBAShoot());
//最終コストが距離
double dist = cp.cost[cp.cost.Length - 1][cp.cost[cp.cost.Length - 1].Length - 1];
s.distFromCentroid = dist;
//エルボー法評価のため全ての距離の和を求める
distSumAllShoots += dist;
if (dist < minDist)
{
minDist = dist;
minS = s;
}
}
members.Remove(minS);
c.members.Add(minS);
}
}
File.WriteAllText(distSumAllShootsOutput, distSumAllShoots.ToString());
}
//public DBAShoots getShoot()
//{
// return myDBShoots;
//}
public void UpdateCentroid()
{
//クラスタごとにDBAグラフを出力
int clustersNumber = 1;
foreach (Cluster c in clusters)
{
string centroidoutput = "centroidoutput" + clustersNumber + ".csv";
c.centroid = DBA.CalcAverage(c.members, numberOfDbaUpdates);
//centroid保存用
string centroid = "";
for (int i = 0; i < c.centroid.DBAacc.Length; ++i)
{
//グラフの横軸は時刻ではなく何番目のデータか であることに注意
centroid += i + "," + c.centroid.DBAacc[i].x + "," + c.centroid.DBAacc[i].y + "," + c.centroid.DBAacc[i].z + "\r\n";
}
File.WriteAllText(centroidoutput, centroid);
clustersNumber++;
}
}
public void UpdateMember()
{
//クラスタの更新
foreach (Cluster c in clusters)
{
c.prevMembers.Clear();
c.prevMembers.AddRange(c.members);
c.members.Clear();
}
foreach (Shoot s in allShoots)
{
double minDist = double.MaxValue;
Cluster minCluster = null;
foreach (Cluster c in clusters)
{
double[][] cost = DBA.DpMatching(s.acc, c.centroid.DBAacc).cost;
double dist = cost[cost.Length - 1][cost[cost.Length - 1].Length - 1];
if (dist < minDist)
{
minDist = dist;
minCluster = c;
}
}
minCluster.members.Add(s);
}
//クラスタが更新されない場合
clusteringFinished = true;
foreach (Cluster c in clusters)
{
//積集合が一致しないとき ＝＞ クラスタ更新は続ける
IEnumerable <Shoot> intersect = c.members.Intersect(c.prevMembers);
if (intersect.Count() != c.members.Count())
{
clusteringFinished = false;
}
}
}
public void SetData(int cid, int sid)
{
chart1.Series.Clear();
chart1.ChartAreas.Clear();
// ChartにSeriesを追加します
string legend1 = "X";
string legend2 = "Y";
string legend3 = "Z";
string legend4 = "cost";
chart1.Series.Add(legend1);
chart1.Series.Add(legend2);
chart1.Series.Add(legend3);
chart1.Series.Add(legend4);
chart1.Series[legend1].ChartType = SeriesChartType.Line; // 折れ線グラフ
chart1.Series[legend2].ChartType = SeriesChartType.Line; // 折れ線グラフ
chart1.Series[legend3].ChartType = SeriesChartType.Line; // 折れ線グラフ
chart1.Series[legend4].ChartType = SeriesChartType.Line; // 折れ線グラフ
chart1.ChartAreas.Add(new ChartArea("Area1"));
chart1.ChartAreas["Area1"].AxisX.Title = "time";
chart1.ChartAreas["Area1"].AxisY.Title = "degree";
//クラスタ型から拾ってくる
//Centroid のグラフ出力 sid == 0
if (sid == 0)
{
Cluster c = kmeans.clusters[cid];
for (int i = 0; i < c.centroid.DBAacc.Length; i++)
{
chart1.Series[legend1].Points.AddY(c.centroid.DBAacc[i].x); //X
chart1.Series[legend2].Points.AddY(c.centroid.DBAacc[i].y); //Y
chart1.Series[legend3].Points.AddY(c.centroid.DBAacc[i].z); //Z
}
laShoot.Text = "Centroid";
laShootNum.Text = "";
distNum.Text = " ";
}
//各クラスタに属する射の入力データのグラフ出力 Centroidに距離が近い順（Sort済み）
else
{
//クラスタ番号cidのクラスタ
Cluster c = kmeans.clusters[cid];
//クラスタ番号cidのメンバー
Shoot s = c.members[sid - 1];
DBAShoot dba = c.centroid;
laShoot.Text = "Shoot";
laShootNum.Text = s.shootnumber.ToString();
distNum.Text = DBA.CalcCost(s.acc, dba.DBAacc).dist.ToString();
//double dt = 0.1;
//double[] dtCost = new double[s.acc.Length];
for (int i = 0; i < s.acc.Length - 1; i++)
{
chart1.Series[legend1].Points.AddXY(s.time[i], s.acc[i].x); //X
chart1.Series[legend2].Points.AddXY(s.time[i], s.acc[i].y); //Y
chart1.Series[legend3].Points.AddXY(s.time[i], s.acc[i].z); //Z
}
//costのグラフも表示
for (int i = 0; i < s.cost.Length; i++)
{
////chart1.Series[legend4].Points.AddY(s.path[i]); //cost
//dtCost[i] = (s.cost[i] - s.cost[i - 1]) / dt;
//dtCost[i] = s.cost[i];
//costの軸は2軸目（右側のY軸目盛り）で表示
double[] DBAcost = DBA.CalcCost(s.acc, dba.DBAacc).cost;
chart1.Series[legend4].YAxisType = AxisType.Secondary;
//chart1.Series[legend4].Points.AddXY(dba.DBAtime[i], s.cost[i]); //cost
chart1.Series[legend4].Points.AddXY(s.time[i], DBAcost[i]); //cost
}
}
}
